International Journal of Trend in Scientific Research and Development (IJTSRD)

Volume 4 Issue 4, June 2020 Available Online: www.ijtsrd.com e-ISSN: 2456 – 6470

Speed-Torque Characteristics of
BLDC Motor with Load Variations
Ishita Gupta1, Akash Varshney2
1Scholar
(PS&C), 2Assistant Professor,
1,2Department of Electrical Engineering, Babu Banarasi Das University, Lucknow, Uttar Pradesh, India

ABSTRACT How to cite this paper: Ishita Gupta |

Nowadays, Brushless DC motors are in high demand due to its high efficiency Akash Varshney "Speed-Torque
and other significant features. As there is no use of brushes, this type of motor Characteristics of BLDC Motor with Load
is having many advantages like high torque to inertia ratio, high speed, and Variations"
power density and low cost compared to conventional brushed motors. This Published in
paper determines speed-torque characteristics of brushless dc motor with International Journal
different load variation by using the proposed method and the developed of Trend in Scientific
controller. The variation in motor speed-torque characteristics for half load, Research and
full-load, and overloading condition is analyzed. This research has been Development
conducted to analyze the model and compared with the simulation results (ijtsrd), ISSN: 2456- IJTSRD31197
which are very useful in studying the performance of motor system. The 6470, Volume-4 |
simulation is carried out in MATLAB/Simulink environment. Issue-4, June 2020, pp.811-814, URL:
www.ijtsrd.com/papers/ijtsrd31197.pdf
KEYWORDS: BLDC Motor; PI Controller; Hall Sensors; Speed Torque
Characteristics; MATLAB/SIMULINK Copyright © 2020 by author(s) and
International Journal of Trend in Scientific
Research and Development Journal. This
is an Open Access article distributed
under the terms of
the Creative
Commons Attribution
License (CC BY 4.0)
(http://creativecommons.org/licenses/by
/4.0)
I. INTRODUCTION
Brushless DC (BLDC) motor is an AC synchronous motor change current in the windings situated on the rotor. In such
with permanent magnets on the rotor (moving part) and an arrangement, the magnets rotate continuously while the
windings on the stator (fix part). Permanent magnets create conductors remain stationary. These motors either
the rotor flux and the energized stator windings create incorporates internal or external position to sense the actual
electromagnet poles. BLDC drives have received significant rotor position or its position can also be detected without
attention, owing to their high efficiency, electromagnetic sensors. BLDC motor are used in Aerospace, Consumer,
interference and high mechanical reliability, fast response, Medical, Industrial Automation equipment and
weight, precise and accurate control, maintenance free Instrumentation. These motors have many advantages over
operation, brushes construction and reduced size, torque other motor drives and it is preferred for higher
delivered to motor size is higher making it useful in performance operations. The abrupt change in speed or load
applications where space and weight are critical, thermal affects the performance of motor drive. But BLDC motor
overload and under load protection is provided due to the drive, as it has non-linear behaviour requires a controlled
absence of brushes. These motors are very popular in a wide input so as to achieve the better performance. An accurate
variety of applications compared with a DC motor; the BLDC mathematical model is required for the design of controllers
motor uses an electric commutator rather than a mechanical for the BLDC motor drives, simulation, controlling methods
commutator so it is more reliable than the rotor’s magnetic and parameter tuning methodology etc. For the same,
flux. modified/improved controller are required. PI controller
provides easy tuning and thus is preferred in most of the
BLDC motor is driven by DC voltage and the magnetic field industrial applications. In this paper the BLDC motor speed
generated by the rotor rotate at the same frequency. vs. torque characteristics for three different types of loadings
According to the shape of their induced electromotive force i.e. half load, full-load, and overloading conditions are
it is further categorized into two types: sinusoidal and presented. Simulation results using MATLAB are established
trapezoidal. The sinusoidal induced electromotive force to validate system performances.
waveform is associated with permanent synchronous motor
and the trapezoidal electromotive force waveform is II. SYSTEM DEVELOPMENT
associated with this type of motor. Forced commutation is, BLDC motors are also known as electronically commutated
therefore, implemented electronically with a power motors which are powered by direct-current (DC) electricity
electronic amplifier that uses semiconductor switches to and commutation is controlled electronically by the drive

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 International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470
amplifier. Fig.1 shows the block diagram of the BLDC motor III. SPEED-TORQUE CHARACTERISTICS
drive system used in the paper. The speed of the motor is There are two torque parameters used to define a BLDC
compared with its reference value and the speed error is motor, peak torque and rated torque. During continuous
processed in proportional- integral controller. The outer operations, the motor can be loaded up to rated torque. This
loop is designed to improve the static and dynamic requirement comes for brief period, especially when the
characteristics of the system. motor starts from stand still and during acceleration. During
this period, extra torque is required to overcome the inertia
of load and the rotor itself. The motor can deliver a higher
torque up to maximum peak torque, as long as it follows the
speed torque curve. As the speed increases to a maximum
value of torque of the motor, continuous torque zone is
maintained up to the rated speed after exceeding the rated
speed the torque of the motor decreases. The stall torque
represents the point on the graph at which the torque is
maximum, but the shaft is not rotating. The no load speed is
the maximum output speed of the motor. The speed is
essentially controlled by the voltage, and may be varied by
Fig.1: Block diagram of BLDC motor drive varying the supply voltage. The voltage is usually controlled
by PWM and gives rise to a family of torque/speed
The disturbance caused by the inner loop can be limited by characteristics in the boundaries of continuous and
the outer loop. The rotor position information supplied by intermittent operation.
the Hall Effect sensors of the BLDC motor. To control motor
current, a proportional controller is used to supply proper Figure below shows the speed torque characteristics of a
switching pattern for inverter where three hall sensors are BLDC motor. The continuous limit is usually determined by
used. heat transfer and temperature rise. The intermittent limit
may be determined by the maximum ratings of
The brushless dc motor consists of four main parts which are semiconductor devices in the controller, or by temperature
as follows: rise.
1. Inverter Circuit
BLDC motors are fed by Voltage source inverters for its easy
and wide range of speed control. It consists of two power
semiconductor devices on each phase leg. Three phases are
commutated for every 60 degree. Sensors work as a
feedback element of the rotor position, so that
synchronization is achieved between stator and rotor flux.

2. Hall Sensor
Hall sensors are embedded into the stationary part of the
motor. The hall sensors digital signals are used to sense the
rotor position. It detects the change in magnetic field. The
Hall sensors give high or low signal, when the rotor magnetic
poles pass from it which indicates that the North or South
Pole is passing near the sensors. Hall Effect sensors provide
the portion of information need to synchronize the motor Fig.2: Speed-Torque characteristics
excitation with rotor position in order to produce constant
torque. IV. SIMULATION MODEL OF BLDC MOTOR
The proposed model has a flexible structure and enables
3. PI Controller
users to change motor parameters easily unlike the state
Conventional PI controller is used as a speed controller for
space models of BLDC Motor which are limited in their
recovering the actual motor speed to the reference. The
flexibility. Each subsystem determines the parameters of the
reference and the measured speed are the input signals to
motor.
the PI controller. The and values of the controller are
determined by trial and error method for each set speed. The
controller output is limited to give the reference
torque.80%of the controller are PI controllers because they
are facile and easy to comprehend.

4. BLDC Assembly
The output of inverter circuit and reference input fed to
BLDC Motor. The output of BLDCM is taken with the help of
Bus Selector. The output of bus selector is as Stator Current,
Stator back EMF, Rotor Speed and Electromagnetic torque.
Fig.3: BLDC Simulink Model with PI Controller
One of the outputs of PMSM is fed to Decoder/Gate block so
that it decides the gate pattern of inverter circuit. The Rotor
Each part is modeled separately and integrated in overall
speed is fed back to the comparator to achieve the desired
simulation model. BLDC motor is modeled using electrical
speed which is required.

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 International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470
and mechanical mathematical equations. For Hall decoding
block and gate triggering block logical models are developed
according to hall signals (rotor position).

The reference speed of 3000 rpm is used in the model and is

compared with a feedback path and is then connected to a
controller. A speed regulator is used to control the DC bus
voltage. The outputs of the bridge inverter is applied to the
permanent magnet synchronous motor (PMSM). The load
torque provided to the machine shaft is step input of 3Nm.
The system is first set to zero and then steps to its nominal
value of 3Nm at time 0.1sec. Simulation of brushless DC
motor with different load variations has been observed.

V. SIMULATION RESULTS
The speed-torque characteristics of BLDC motor under
loading includes half load, full-load, and overloading are
shown in Fig.4,5 and 6. It is also cleared that the machine has
induced self-torque in the negative region after load removal Fig.5: Speed-Torque Characteristics Under Half Load
which provides braking condition for BLDC motor. Condition

In case of loading conditions, the non-linearity behaviour of

speed-torque characteristics of BLDC motor is maintained
but machine shows erratic behaviour at the time of load
removal.

As the overloading exist, the speed-torque plot of BLDC

reaches in the negative region with drastically change in the
characteristics as shown in Fig.4-6. In the overloading
conditions large oscillations has observed and BLDC motor
shows jerky operation.

This opens up a new scope for exploring the reasons for the
jerky operation of the machine while removing the load; and
to suggest mitigation technique for the same.

Fig.6: Speed-Torque Characteristics Under Over Load

Condition

VI. CONCLUSION
A significant observation is made through the speed-torque
characteristics of BLDC motor under the three types of load
conditions using MATLAB/SIMULINK software with PI
controller to analyze the overall behaviour of the machine. It
is seen that the performance of the motor is better when the
load is applied at half load condition than the full load and
overload condition.

REFERENCES
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Fig.4: Speed-Torque Characteristics Under Full Load Smart System (ICEDSS 2017).
Condition
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“Design of a Brushless DC (BLDC) Motor Controller”,
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[3] Shivraj S Dudhe and Archana G Thosar, “Mathematical
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of Advances in Engineering & Technology, Nov., 2014.

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